Title :
Position correction using elevation map for mobile robot on rough terrain
Author :
Uchida, Shintaro ; Maeyama, Shoichi ; Ohya, Akihisa ; Yuta, Shin´ichi
Author_Institution :
Intelligent Robot Lab., Tsukuba Univ., Ibaraki, Japan
Abstract :
This paper proposes a new method of position correction for a mobile robot on rough terrain. The strong point of our method is that no external sensor is needed for position correction. The information about position correction is derived from comparing between the estimated position and elevation map of the terrain by using the knowledge that the robot must touch the ground. Some experimental results are also shown
Keywords :
mobile robots; navigation; elevation map; mobile robot; position correction; rough terrain; Covariance matrix; Dead reckoning; Equations; Error correction; Jacobian matrices; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Sampling methods;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724681
